BLOCK DIAGRAM

MANIPULATION AND
REDUCTION
By Schck Tchamna Rodrigue, PhD
October 2014

Actuating Signal
Systems Error

R (s)
Reference
Input

Summing
point
+
-

Manipulated
Variable M ( s )
Disturbance

D (s)

Controller

E= R F

Gp ( s )

C (s)

Forward Path
Main
Feedback
Signal F ( s )

Branch
point Y ( s )

Plant

H (s)
Rodrigue Tchamna

Feedback Path

General Block Diagram of a Control System

Transfer Function

R (s)

G (s)

Y = G (s) R (s)

Reduced Block Diagram of a Control System

R (s)

D (s)
+
-

E= R F

C (s)

F (s)

+
-

E= R F

F (s)

C (s)

H (s)

M (s)

Y (s)

Gp ( s )

H (s)

if D ( s ) = 0
R (s)

M (s)

Gp ( s )

Y (s)

R (s)

+
-

E= R F

F (s)

Gp ( s ) C ( s )

H (s)

Y (s)

R (s)

+
-

E= R F

F (s)

Y (s)

Gp ( s ) C ( s )

R (s)

+
-

E (s)

F (s)

H (s)

G (s)

H (s)

G ( s ) Is called Direct or Forward transfer function

H ( s ) Is called Feedback transfer function
G (s) H (s)

Is called Open-loop transfer function

Y (s)
R (s)

Is called Closed-loop transfer function or Control ratio

Y (s)
E (s)

Is called Feedforward transfer function

Y (s)

Closed Loop Transfer Function

R (s)

+
-

E (s)

Y = GE
G (s)

Y (s)

E = R F = R HY

Y =G ( R HY ) =GR GHY
F (s)

H (s)

Y + GHY =
GR
GR
( I + GH ) Y =
Y
1
= ( I + GH ) G
R

Y
G
For SISO =
R 1 + GH

Positive Feedback
R (s)

+
+

E (s)

F (s)

G (s)

H (s)

Y
G
For SISO =
R 1 GH

Y (s)

The Characteristic equation of the system is defined as an equation obtained by setting the
denominator polynomial of the transfer function to zero.

Y
G
For SISO =
R 1 + GH
The Characteristic equation of the above system is

1 + GH =
0

Block Diagram Reduction Rules

For many real systems, the block diagram of a Single Input-Single Output (SISO),
feedback control system may involve several feedback loops and summing points.
In principle, the block diagram of (SISO) closed loop system, no matter how
complicated it is, it can be reduced to the standard single loop form.
Transfer Function

R (s)

G (s)

Y = G (s) R (s)

Combine all cascade blocks

Combine all parallel Blocks. Eliminate all minor (interior) feedback loops

Moving a pickoff point behind a block

Moving a pickoff point ahead a block

Moving a summing point behind a block

Moving a summing point ahead a block

Block Diagram Reduction Rules

Manipulation
1

Combine all cascade

blocks

Original Block Diagram

Combine all parallel

Blocks. Eliminate all
minor (interior)
feedback loops

Moving a pickoff point

behind a block

G1

Moving a pickoff point

ahead a block

Y = G1G2 R

G1 G2

=
Y

( G1 G2 ) R

G2

R
4

G1G2

G1

G2

Equation

Equivalent Block Diagram

R
R

Y=

GR R =

1/ G

Y
G

Y = GR

G
5

Moving a summing point

behind a block

Moving a summing point

ahead a block

R1
+

R2
R1

R2

R1
R2

R1

R2

Y
=
Y

( G1 G2 ) R

G
+

1/ G

Y GR1 R2
Y =
=

G R1 2
G

R1

E (s)

F (s)
R (s)

R1

++-

Y = R1 + R2 R3

R2

R3

R2

R (s)

+-

++

R3

G (s)

Y (s)

Y
GH
=
R 1 + GH

H (s)

E (s)

F (s)

G (s)

H (s)

Y (s)

Y
GH
=
R 1 GH

Example 1

D (s)

R (s)

Using the block diagrams rules, find the

correct block Diagram among the block
diagram a) b) or c)

G2 ( s )

E (s)

G1 ( s )

F (s)

R (s)

+-

E (s)

F (s)

D (s)
G1 ( s )

++

G2 ( s )

Y (s)

Y (s)

++

a)

H (s)

E (s)

G1 ( s )

F (s)

H (s)
D (s)

E (s)
-

F (s)
c)

G2 ( s )

D (s)

R (s)

R (s)

G1 ( s )

G2 ( s )

++

Y (s)

b)

H (s)

G2 ( s )
G2 ( s )

H (s)

++

Y (s)

c)

Example 2

R (s)

+-

G1 ( s )

+-

Y (s)

G2 ( s )

R (s)

+-

G1 ( s )

G2
1 + G2 H

H (s)

G1G2
R (s)
1 + G2 H
G1G2
1+
1 + G2 H

Y (s)

R (s)

G1G2
1 + G2 H + G1G2

Y (s)

Y (s)

Example 3: Simplify the following block diagram

R (s)

G1 ( s )

+-

+-

G2 ( s )

G3 ( s )

First Method

Y (s)

R (s)

G1 ( s )

+-

Move pickoff
point
Behind block

H1

+-

H1
G3

G2G3
1 + G2G3 H 2

G1 ( s )

Negative
feedback loop

Y (s)

R (s)

G1G2G3
1 + G2G3 H 2

+-

Negative
feedback loop

R (s)

Y (s)

H1
G3

H1
G3
G1G2G3
1 + G2G3 H 2
G1G2G3 H1
1+
1 + G2G3 H 2 G3

G3 ( s )

Y (s)

H2

H2

R (s)

+-

G2 ( s )

Y (s)

R (s)

Y (s)
G1G2G3
1 + G2G3 H 2 + G1G2 H1

Example 3: Simplify the following block diagram

R (s)

G1 ( s )

+-

G2 ( s )

+-

Second Method (more complicated)

Y (s)

G3 ( s )

R (s)

Move summing
point
Behind block

H1

+-

G1 ( s )

G2 ( s )

+-

G3 ( s )

Y (s)

G2 H 2

H1

H2

R (s)

+-

G1 ( s )

Move pickoff
point
Behind block

G2 ( s )

Negative
feedback loop

+-

G3 ( s )

+-

G2 H 2

H1
G3
R (s)

Y (s)

R (s)

+-

G3
1 + G3G2 H 2

G1G2

Negative
feedback loop

H1
G3
G1G2G3
1 + G3G2 H 2
H1
G3

Y (s)

R (s)

Y (s)
G1G2G3
1 + G2G3 H 2 + G1G2 H1

Y (s)

Example 4 : Simplify the following block diagram

G3

+-

++

G4

G1

G2

+
+

+-

++

G1G4

Parallel and
Cascade blocks
reduction

H1

Positive
feedback loop

+-

G1G4
1 G1G4 H1

G2 + G3

G2 + G3

H1

H2

H2

R
Cascade blocks
reduction

+-

G1G4 ( G2 + G3 )
1 G1G4 H1

H2

H2
Negative
feedback loop

G1G4 ( G2 + G3 ) Y
1 G1G4 H1
G G (G + G )
1+ 1 4 2 3 H2
1 G1G4 H1

G1G4 ( G2 + G3 )
1 G1G4 H1 + G1G4 ( G2 + G3 ) H 2

Example 5 : assume the following model is for a given plant

G3

+-

+-

G4

G1

G2

+
+

Y
R

G1G4 ( G2 + G3 )
1 G1G4 H1 + G1G4 ( G2 + G3 ) H 2

G1G4 ( G2 + G3 )
1 + G1G4 H1 + G1G4 ( G2 + G3 ) H 2

H1
H2

s G = 2
G1 =
2
s+3
s+2
s+3
3
G4 =
G3 =
s+5
s+2
H1 = 1 H 2 =

s+2
s+6

Using the original and the simplified block diagram.

Simulate the system using Simulink :

Multi inputs Single Output (MISO)

1) Set one input to zero, 2) find the equivalent block Diagram, 3) then set the other
input to zero, 4) find its equivalent block Diagram, 5) then sub up the two results

R (s)

+-

E (s)

D (s)

++

G1 ( s )

F (s)

Step 2

R (s)

Y (s)

G2 ( s )

+-

G1 ( s )

F (s)

H (s)

+-

E (s)

Step 1

E
G1G2

G1G2
Y
=
R 1 + G1G2 H
H

++

H (s)

G2 ( s )

Y (s)

1) Set one input to zero, 2) find the equivalent block Diagram, 3) then set the other
input to zero, 4) find its equivalent block Diagram, 5) then sub up the two results

R (s)

+-

D (s)

E (s)

G1 ( s )

F (s)

++

Y (s)

G2 ( s )

+-

++

G1 H

G2 ( s )

++

G1 ( s )

H (s)

Y ( s ) D (s)

G2 ( s )

Y (s)

H (s)

D (s)

Step 4

E (s)

D (s)

++

G2 ( s )

Y (s)

D (s)

G1 H

G2 ( s )

+-

G1 H

G2
Y
=
D 1 + G1G2 H

Y (s)

Step3

R (s)

+-

E (s)

D (s)

G1 ( s )

++

G2 ( s )

Y (s)

H (s)

G1G2
Y
=
R 1 + G1G2 H

=
Y

G2
Y
=
D 1 + G1G2 H

G1G2
G2
R+
D
1 + G1G2 H
1 + G1G2 H

G2
=
( G1R + D )
1 + G1G2 H

Homework 1

Block Diagram 1

R (s)

H3
G1 ( s )

+-

+-

+-

G2 ( s )

G3 ( s )

G4 ( s )

H2

Y (s)

s G = 2
G1 =
2
s+3
s+2
s+3
3
G4 =
G3 =
s+5
s+2

H1

H1 = 1 H 2 =

Block Diagram 2

R (s)

+-

G1G2G3G4
1 + G2G3 H 2 + G3G4 H 3

H1

1) Prove that Block Diagram 1 = Block Diagram 2

2) Determine the final Transfer function of the system

3) Simulate using Simulink

Y (s)

H3 =

s+2
s+6

1
s2 + 6

Homework 2

Using the superposition principle, Compute the transfer function Y in terms of R and D
Simulate the system for a step input disturbance, for R = 0;

LECTURE 6
Systems Time Domain Analysis